arXiv subjects

Qingwen Yang

Publications and source records attributed to Qingwen Yang.

5 recordsLinked to original sources

arXiv2026

MuseVLA: An Adaptive Multimodal Sensing Vision-Language-Action Model for Robotic Manipulation

Humans naturally leverage diverse sensing modalities to interact with the physical world, while most Vision-Language-Action (VLA) models for robotics rely solely on RGB observations. This limits their ability to perceive physical properties that are difficult or impossible to infer from RGB cameras, such as temperature, sound, or radar response. We present MuseVLA, an adaptive multimodal sensing VLA model that integrates novel sensors as on-demand tools for robotic manipulation. Given a task instruction and visual context, MuseVLA first generates a sensor token and target description that select the sensing modality to invoke and what to attend to, analogous to a tool call with arguments. It then converts the selected sensor measurement into a grounded sensor image, a unified intermediate representation that encodes heterogeneous readings for multimodal fusion and action generation. This design decouples sensor-specific processing from the VLA backbone, enabling efficient integration of diverse modalities. To reduce the need for expensive multisensory robot datasets, we further introduce a data synthesis pipeline that augments existing RGB video datasets with grounded sensor images, enabling generalization to unseen sensor-guided tasks. We evaluate MuseVLA on a real-world robot across challenging dexterous hand manipulation tasks that require multimodal sensing inputs, including temperature-guided pick-and-place, audio-driven object search, and radar-assisted hidden object retrieval. MuseVLA achieves 80.6% success rate on average, outperforming RGB-only and multisensory VLA baselines significantly, and exhibits strong zero-shot capabilities on unseen tasks. Code, model and dataset are available at https://github.com/microsoft/MuseVLA.

cs.RO↗

arXiv2025

From Detection to Diagnosis: Advancing Hallucination Analysis with Automated Data Synthesis

Hallucinations in Large Language Models (LLMs), defined as the generation of content inconsistent with facts or context, represent a core obstacle to their reliable deployment in critical domains. Current research primarily focuses on binary "detection" approaches that, while capable of identifying hallucinations, fail to provide interpretable and actionable feedback for model improvement, thus limiting practical utility. To address this limitation, a new research paradigm is proposed, shifting from "detection" to "diagnosis". The Hallucination Diagnosis Task is introduced, a task which requires models to not only detect hallucinations, but also perform error localization, causal explanation, and content correction. We develop the Hallucination Diagnosis Generator (HDG), an automated pipeline that systematically generates high-quality training samples with rich diagnostic metadata from raw corpora through multi-dimensional augmentation strategies including controlled fact fabrication and reasoning chain perturbation. Using HDG-generated data, we train HDM-4B-RL, a 4-billion-parameter hallucination diagnosis model, employing Group Relative Policy Optimization (GRPO) with a comprehensive reward function incorporating structural, accuracy, and localization signals. Experimental results demonstrate that our model surpasses previous state-of-the-art detection models on the HaluEval benchmark while achieving comparable performance to advanced general-purpose models. In comprehensive diagnosis tasks, HDM-4B-RL matches the capabilities of larger general models while maintaining a smaller size. This work validates the feasibility and value of hallucination diagnosis, providing an effective methodology for building more trustworthy and reliable generative AI systems.

cs.CL↗

arXiv2025

Augmented Runtime Collaboration for Self-Organizing Multi-Agent Systems: A Hybrid Bi-Criteria Routing Approach

LLM-based multi-agent systems have demonstrated significant capabilities across diverse domains. However, the task performance and efficiency are fundamentally constrained by their collaboration strategies. Prevailing approaches rely on static topologies and centralized global planning, a paradigm that limits their scalability and adaptability in open, decentralized networks. Effective collaboration planning in distributed systems using only local information thus remains a formidable challenge. To address this, we propose BiRouter, a novel dual-criteria routing method for Self-Organizing Multi-Agent Systems (SO-MAS). This method enables each agent to autonomously execute ``next-hop'' task routing at runtime, relying solely on local information. Its core decision-making mechanism is predicated on balancing two metrics: (1) the ImpScore, which evaluates a candidate agent's long-term importance to the overall goal, and (2) the GapScore, which assesses its contextual continuity for the current task state. Furthermore, we introduce a dynamically updated reputation mechanism to bolster system robustness in untrustworthy environments and have developed a large-scale, cross-domain dataset, comprising thousands of annotated task-routing paths, to enhance the model's generalization. Extensive experiments demonstrate that BiRouter achieves superior performance and token efficiency over existing baselines, while maintaining strong robustness and effectiveness in information-limited, decentralized, and untrustworthy settings.

cs.MA↗

arXiv2024

Leveraging Inter-Chunk Interactions for Enhanced Retrieval in Large Language Model-Based Question Answering

Retrieving external knowledge and prompting large language models with relevant information is an effective paradigm to enhance the performance of question-answering tasks. Previous research typically handles paragraphs from external documents in isolation, resulting in a lack of context and ambiguous references, particularly in multi-document and complex tasks. To overcome these challenges, we propose a new retrieval framework IIER, that leverages Inter-chunk Interactions to Enhance Retrieval. This framework captures the internal connections between document chunks by considering three types of interactions: structural, keyword, and semantic. We then construct a unified Chunk-Interaction Graph to represent all external documents comprehensively. Additionally, we design a graph-based evidence chain retriever that utilizes previous paths and chunk interactions to guide the retrieval process. It identifies multiple seed nodes based on the target question and iteratively searches for relevant chunks to gather supporting evidence. This retrieval process refines the context and reasoning chain, aiding the large language model in reasoning and answer generation. Extensive experiments demonstrate that IIER outperforms strong baselines across four datasets, highlighting its effectiveness in improving retrieval and reasoning capabilities.

cs.CL↗

arXiv2024

KnowledgeNavigator: Leveraging Large Language Models for Enhanced Reasoning over Knowledge Graph

Large language model (LLM) has achieved outstanding performance on various downstream tasks with its powerful natural language understanding and zero-shot capability, but LLM still suffers from knowledge limitation. Especially in scenarios that require long logical chains or complex reasoning, the hallucination and knowledge limitation of LLM limit its performance in question answering (QA). In this paper, we propose a novel framework KnowledgeNavigator to address these challenges by efficiently and accurately retrieving external knowledge from knowledge graph and using it as a key factor to enhance LLM reasoning. Specifically, KnowledgeNavigator first mines and enhances the potential constraints of the given question to guide the reasoning. Then it retrieves and filters external knowledge that supports answering through iterative reasoning on knowledge graph with the guidance of LLM and the question. Finally, KnowledgeNavigator constructs the structured knowledge into effective prompts that are friendly to LLM to help its reasoning. We evaluate KnowledgeNavigator on multiple public KGQA benchmarks, the experiments show the framework has great effectiveness and generalization, outperforming previous knowledge graph enhanced LLM methods and is comparable to the fully supervised models.

cs.CL↗